CARMA simulation and CARMA street handshake

[chengyuan0124]

PR Details

Description

This pull request adds functionality to enable the handshake between CARMA simulation and CARMA street. The data flow of the handshake is as follows:

1. CARMA street sends an infrastructure registration message to mosaic-infrastructure.
2. The infrastructureRegistrationReceiver receives the registration message from CARMA street and converts it to an infrastructureRegistrationMessage object.
3. The infrastructureRegistrationReceiver stores the infrastructureRegistrationMessage object in a queue.
4. The infrastructureMessageAmbassador runs in a loop and checks the queue for any new messages while processing time advance grants.
5. When a new message is found in the queue, the infrastructureMessageAmbassador creates an RSU with its DSRC and sends the registration message to the MOSAIC RTI.
6. These created RSUs are stored in the InfrastructureInstanceManager with the type InfrastructureInstance.

Related Issue

Motivation and Context

How Has This Been Tested?

Types of changes

• [ ] Defect fix (non-breaking change that fixes an issue)
• [x] New feature (non-breaking change that adds functionality)
• [ ] Breaking change (fix or feature that cause existing functionality to change)

Checklist:

• [ ] I have added any new packages to the sonar-scanner.properties file
• [ ] My change requires a change to the documentation.
• [ ] I have updated the documentation accordingly.
• [ ] I have read the CONTRIBUTING document. CARMA Contributing Guide
• [x] I have added tests to cover my changes.
• [x] All new and existing tests passed.

[sonarcloud[bot]]

SonarCloud Quality Gate failed.   

0 Bugs
0 Vulnerabilities
0 Security Hotspots
8 Code Smells

33.0% Coverage
1.4% Duplication